Luna-25. Robotic arm

Vladislav A. Yakovlev
Postgraduate Student, Space Research Institute, Engineer, 84/32, Profsoyuznaya ul., Moscow, 117997, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Maksim L. Litvak
Doctor of Physical and Mathematical Sciences, Professor, Space Research Institute, Head of Laboratory, 84/32, Profsoyuznaya ul., Moscow, 117997, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Tatyana O. Kozlova
Space Research Institute, Head of Laboratory, 84/32, Profsoyuznaya ul., Moscow, 117997, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Igor V. Dokuchaev
Space Research Institute, Leading Engineer, 84/32, Profsoyuznaya ul., Moscow, 117997, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Radij S. Zverev
Space Research Institute, Leading Designer, 84/32, Profsoyuznaya ul., Moscow, 117997, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received September 2, 2022

Abstract
The lunar manipulator complex developed for the Luna-25 landing mission as part of the instrument group. During the ground tests, first, the kinematics of the manipulator's movements, as it will implemented on the Moon, and the interaction of various instruments worked out: lunar manipulator complex (LMC), a laser ionization mass spectrometer (LASMA-LR), a stationary television system (STS-L) and an IR spectrometer and stereo camera (LIS-TV-RPM). The joint work of this group of devices should ensure accurate guidance of the manipulator to the selected area of the Moon's surface with subsequent sampling, safe transportation of the soil taken into the receiving hole of the mass spectrometer and guidance of the IR spectrometer to various objects on the Moon's surface. The possibilities of the LMC to dig and take soil samples in a vertical chamber using a lunar regolith simulator frozen to cryogenic temperatures in a vacuum with the addition of water ice also investigated.

Key words
lunar manipulator complex, stereo cameras, cyclogram, trajectory, motion, Moon, lander, soil sample, simulator.

DOI
10.31776/RTCJ.11109

Bibliographic description
Yakovlev, V.A. (2023). Luna-25. Robotic arm. Robotics and Technical Cybernetics, 11(1), pp.73-79.

UDC identifier:
629.785:621.865.8

References

1. Mitrofanov, I.G., Zelenyj, L.M., Tret'jakov, V.I. and Kalashnikov, D.V. (2021). Luna-25: Pervaja poljarnaja missija na Lunu [Luna-25: The first polar mission to the Moon]. Astronomicheskij Vestnik [Astronomical Herald], 55(6), pp.497-508. (in Russian).
2. Kazmerchuk, P.V. and Shirshakov, A.E. (2021). Kosmicheskij apparat «luna-25» – Vozvraschenie na Lunu [Space Vehicle «Luna-25» – return to the Moon]. Astronomicheskij Vestnik [Astronomical Herald], 55(6), pp.509-521. (in Russian).
3. Litvak, M.L. et al. (2021). Nazemnye otrabotki lunnogo manipuljatornogo kompleksa proekta Luna-25 [Ground developments of the lunar manipulator complex of the Luna-25 project]. Astronomicheskij Vestnik [Astronomical Herald], 55(6), pp.618-632. (in Russian).
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